TY - GEN
T1 - People detection using range and intensity data from multi-layered laser range finders
AU - Carballo, Alexander
AU - Ohya, Akihisa
AU - Yuta, Shin'ichi
PY - 2010
Y1 - 2010
N2 - Effective detection of people is a basic requirement for robot coexistence in human environments. In our previous work [1] we proposed a method for people detection and position estimation using multiple layers of Laser Range Finders (LRF) in a mobile robot. We extend our work by introducing laser reflection intensity as a novel feature for people detection, achieving significant improvement of detection rates. In concrete, we propose a method for calibration of laser intensity data, a method for segment separation using laser intensity, and introduce two new intensity-based features for people detection: the variance of laser intensity and the variance of intensity differences. We present experimental results that confirm the effectiveness of our multi-layered detection method including laser intensity.
AB - Effective detection of people is a basic requirement for robot coexistence in human environments. In our previous work [1] we proposed a method for people detection and position estimation using multiple layers of Laser Range Finders (LRF) in a mobile robot. We extend our work by introducing laser reflection intensity as a novel feature for people detection, achieving significant improvement of detection rates. In concrete, we propose a method for calibration of laser intensity data, a method for segment separation using laser intensity, and introduce two new intensity-based features for people detection: the variance of laser intensity and the variance of intensity differences. We present experimental results that confirm the effectiveness of our multi-layered detection method including laser intensity.
UR - http://www.scopus.com/inward/record.url?scp=78651494069&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651494069&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5649769
DO - 10.1109/IROS.2010.5649769
M3 - Conference contribution
AN - SCOPUS:78651494069
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 5849
EP - 5854
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -